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Highlights

The following suction and discharging motion control model is established.

Abstract. With the promotion of super hybrid rice, the requirements for the working performance of rice seeding equipment in industrialized seedling cultivation are gradually improved. According to the circular motion characteristics of the suction plate, the following suction and discharging motion control method of the seeding manipulator was proposed. The control model between suction height and seed layer thickness was established by combining theory with practice. It was used to control the suction height to automatically change with the seed layer thickness and realize the following suction. The motion state of the seedling tray is obtained by image processing, and the suction plate is controlled to synchronize with the assembly line seedling tray to realize the following discharging. The vacuum-vibration precision seeding platform was set up to carry out the following suction and discharging experiment. The results show that when the vibration frequency of the vibration seed plate was 11 Hz, the vibration amplitude was 5mm, the suction negative pressure was 4.5 kPa, and the seed layer thickness was 12 ~ 20 mm, the following suction motion control model could maintain the suction rate above 96.5%. When the velocity of the assembly line was -0.12m/s and the time interval was 6 s, the seeding efficiency was about 600 trays/h, the seeding qualified rate was 94.70%, the reseeding rate and hole rate were 2.77% and 2.53%. Under the condition of satisfying the higher qualified rate of sowing, it can effectively improve the sowing efficiency of the vacuum-vibration precision seeder, and provide a reference for the factory and intelligent development of super rice seedling raising sowing technology.